EP2289644B1 - Procédé de formation de presse, dispositif de formation de presse, produit de programme informatique et support de stockage - Google Patents

Procédé de formation de presse, dispositif de formation de presse, produit de programme informatique et support de stockage Download PDF

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Publication number
EP2289644B1
EP2289644B1 EP10181813A EP10181813A EP2289644B1 EP 2289644 B1 EP2289644 B1 EP 2289644B1 EP 10181813 A EP10181813 A EP 10181813A EP 10181813 A EP10181813 A EP 10181813A EP 2289644 B1 EP2289644 B1 EP 2289644B1
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Prior art keywords
forming
press
processing condition
state variable
metal mold
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EP10181813A
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German (de)
English (en)
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EP2289644A1 (fr
Inventor
Noriyuki Suzuki
Mitsuharu Yamagata
Akihiro Uenishi
Yukihisa Kuriyama
Toshiyuki Niwa
Takuya Kuwayama
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ArcelorMittal France SA
Nippon Steel Corp
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ArcelorMittal France SA
Nippon Steel Corp
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
    • B21D22/20—Deep-drawing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D22/00—Shaping without cutting, by stamping, spinning, or deep-drawing
    • B21D22/20—Deep-drawing
    • B21D22/22—Deep-drawing with devices for holding the edge of the blanks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D24/00—Special deep-drawing arrangements in, or in connection with, presses
    • B21D24/04—Blank holders; Mounting means therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D24/00—Special deep-drawing arrangements in, or in connection with, presses
    • B21D24/10—Devices controlling or operating blank holders independently, or in conjunction with dies
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49088—As a function of, regulate feed as function of material, tool
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49097—Material type of each layer to be drilled, to be joined

Definitions

  • the present invention relates to a press-forming method, a press-forming device, a computer program product and a storage medium, and in particular, relates to a suitable technology to be used for a favorable processing irrespective of characteristic deviation of various metal materials such as iron series, nonferrous series, stacked materials and the like, or environmental fluctuations during processing.
  • various metal materials being a raw material are plates, pipes, bars, wires, powder or grains, and the like obtained through multiple processes of melting-smelting-casting-rolling-heat treatment-secondary processing and so on from raw material or scraps, and there inevitably exists some extent of deviation in mechanical properties in a product due to fluctuation of chemical components, or fluctuation of processing conditions such as uneven temperatures.
  • occurrence of forming defect may arise due to environmental fluctuation during processing such as temperature change of metal mold caused by continuous operation, abrasion of.metal mold, fluctuation of atmospheric temperature or humidity.
  • Patent Document 1 disclosed is a device to control air pressure in an air cylinder to carry out press-forming under an appropriate blank holding force by determining in advance a relation between a physical quantity such as a shape of press material and its mechanical property, chemical property, a laminate lawyer property of plating or the like, and surface conditions such as oil quantity or the like; and an appropriate blank holding force from which prescribed press quality is obtained; and by determining the appropriate blank holding force according to actual physical quantity from the above-described relation.
  • a physical quantity such as a shape of press material and its mechanical property, chemical property, a laminate lawyer property of plating or the like, and surface conditions such as oil quantity or the like
  • Patent Documents 2 and 3 disclose a device which adjusts press conditions based on machine information and metal mold information peculiar to a press machine.
  • Patent Documents 4, 5, and 6 disclose various methods to adjust to prescribed bending angles in a bending process using a press brake.
  • Patent Documents 1 to 3 and the like are aimed at controlling blank holding force based on material characteristics, information peculiar to a machine, and metal mold information.
  • lubrication characteristics, especially with metal molds vary from moment to moment by the synergistic effect of the fluctuation of material characteristics and the fluctuation of machine and mold conditions, it is very difficult to estimate it in advance.
  • Patent Documents 4 to 6 are aimed at adjusting the processing conditions according to the state of deformation during processing of the work in a bending process, but it is difficult to measure complicated three-dimensional shape on the spot in drawing or cutting. Further, since material is cramped with a metal mold during drawing or cutting, there have been very difficult problems in measuring the material shape precisely.
  • EP0 675 419 A discloses a method for optimizing an operating condition of a press, wherein an optimum blank-holding force is automatically adjusted by adjusting a measurable control parameter such as air cylinder pressure to an optimum value.
  • the optimum pressure is automatically adjusted when the ambient temperature has been changed.
  • the present invention has been made in view of the above-described problems, and the object of the invention is to find a method to perform satisfactory press-forming while compensating deviation of various material characteristics and environmental fluctuation during processing.
  • the press-forming device and the method of the present invention are to obtain a satisfactory press molding product by grasping and computation controlling at least two or more means out of a material characteristic input means, a material characteristic measurement means, or a state variable detector for the fluctuation of material characteristics or lubrication characteristic between a metal mold and a work, which are conventionally difficult to estimate. This is achieved with the features of the claims.
  • Fig. 1 shows a diagrammatic structure of a press-forming device of an embodiment to which the present invention is applied.
  • a press-forming device 5 in a press-forming device 5, "1".denotes a punch, "2" denotes a die, "3" denotes a blank holder, and "6” denotes a metal mold device. "7” denotes a state variable sensor (load cell), and other than these, there is provided a state variable sensor (a thermocouple). "10” denotes an air cylinder, "11” denotes a hydraulic cylinder, and "12” denotes a heater.
  • “15” denotes a material characteristic reader which includes a material characteristic reader (IC tag reader) 9 and a material characteristic reader (controller) 14.
  • control computer 22 denotes a control computer, which includes a standard material characteristic storage device 18, a reference state variable storage device 19, a standard processing condition storage device 20, and an arithmetic unit 21.
  • the control computer 22 of the present embodiment is composed of a computer system including a CPU, a RAM and a ROM, and a processing condition controller, a material characteristic input means, a state variable detector, a processing condition computer, a material characteristic measurement means, and the like of the present embodiment are programmed by the computer system.
  • a procedure of a press-forming method of the present embodiment will be explained next referring to Fig. 2 .
  • a metal material is read by the above-described material characteristic reader 15 from an IC tag (refer to Figs. 10 and 11 ) or a bar code (refer to Fig. 12 ) pasted on the surface of the metal material at a stage of being set to the press-forming device 5.
  • the material characteristic information thus read is inputted by the material characteristic input means (Step S201).
  • the material characteristic is one kind or a combination of two or more kinds of the following characteristics: sheet thickness, yield strength, 0.2% proof stress, tensile strength, elongation, n value, r value, coefficient of stress-strain relation equation, table showing each point value approximated to the stress-strain relation with a line graph, hardness, temperature, surface roughness, friction coefficient, and lubricant film thickness and so on for every material.
  • the material characteristics are directly read here for every material from a bar code or an IC tag.
  • the amount of data is great, it is also adoptable to read an ID (identification) number from a bar code or an IC tag and receive the real valued data corresponding to the identification number from a server via a network or to input directly from a mill sheet, a flexible disc or the like attached from a material manufacturer for every coil material into the material characteristic input device.
  • ID identification
  • processing condition is one kinds or a combination of two or more kinds of forming speed, blank holding force, and metal mold temperature.
  • the setting value CO(j) of the standard processing condition may be a fixed value during forming, and when it is changed during forming, for instance, a setting value to each punch stroke amount may be given
  • a formation example of the influence function matrix T1 is shown in Fig. 3 .
  • the function of T1 corresponds to that the forming speed and blank holding force are increased by 0.2% and 0.4% respectively, and there is no change for the metal mold temperature, using the equation (1).
  • Each component of the influence function matrix can be determined from the following methods: a method to determine from the change (sensibility analysis) of the optimum forming condition to the change of various material characteristics using a forming simulation by a finite element method; a method to statistically determine from a relation between material characteristic variation and processing condition, product quality (cracks, creases, spring back, surface distortion, and the like) in actual mass production press process; a method to input actual measurement value on product quality into the press-forming device as instruction data and prepare and update using, for instance, a learning function by a neural network; or the like.
  • formation of material characteristic value and processing condition or formulation method is not limited to the above, and arbitral setting is also adoptable.
  • Step S204 a load is applied on the blank holder, an upper metal mold is descended and forming is started.
  • controllers are not limited to these, other controlling means, either single or a combination of multiple means, any arbitrary form is adoptable.
  • Step S205 to S208 At least one state variable out of punch reaction, metal mold temperature, metal mold distortion amount, work piece deformation amount, work piece temperature, and the like is measured, and the processing condition is corrected from moment to moment by a processing condition computer (Steps S205 to S208).
  • each component of the influence function matrix T2 can be determined from a method to determine from the change (sensibility analysis) of the optimum forming condition to the change of various material characteristics using a forming simulation by a finite element method, similarly to the above-described influence function matrix T1.
  • state variable variation and processing condition product quality (crack, creases, spring back, surface distortion, and the like) in actual mass production press process
  • formation of state variable or formulation method is not limited to the above, and arbitral setting is also adoptable.
  • a press-forming device shown in Fig. 1 is prepared and press-forming is performed using a thin steel plate.
  • material characteristics sheet thickness and hardness are measured for every blank, and typical mechanical properties attached by a material manufacturer.for every coil are used for yield strength or 0.2% proof stress, tensile strength, and total elongation and inputted into a material characteristic input means for every blank respectively.
  • a state variable during forming a punch reaction is monitored using a load cell, the metal mold temperature is monitored using a thermocouple and the forming speed, blank holding force are controlled based on the equations (1) and (2).
  • a "150 mm” blank stamped from the same cold rolling coil for deep drawing having an average thickness of 1.2 mm and a width of 1000 mm is used to perform "50 mm” square cup drawing with a forming height of "40 mm".
  • Typical mechanical properties and the reference values of the coil are shown in Fig. 5 .
  • forming is performed without changing the initialization during forming in example 1, in other words, forming conditions are set based on the material characteristics inputted in advance and the material characteristics measured before forming, and forming is performed without using a state variable during forming, and the forming speed and blank holding force set to be constant.
  • the press conditions are controlled using the material characteristics inputted in advance, the material characteristics measured before forming, and the state variable during forming.
  • the press conditions are controlled using the material characteristics measured before forming, and the state variable during forming.
  • the press conditions are controlled using the material characteristics inputted in advance, and the state variable during forming.
  • forming is performed without correcting the reference processing conditions during forming.
  • the percent defective is reduced by changing the initialization of the processing conditions according to the deviation of the sheet thickness, and the percent defective is further reduced by adjusting the processing condition according to punch reaction and metal mold temperature during forming.
  • Fig. 10 shows an example of a cut plate package 100 supplied from a coil processing center, to which an IC tag 101 is attached.
  • Information such as "tensile strength”, “yield strength or 0.2% proof stress”, “total elongation”, “sheet thickness”, “production date” and the like are stored in the IC tag 101.
  • the information is read with the material characteristic reader (IC tag reader) 9, and is transmitted to the computation device 21, thereby saving the labor that would otherwise be incurred if the data were inputted manually..
  • Fig. 11 shows an example to attach an IC tag 111 to a material coil 110. Also in the case of this example, information such as "tensile strength”, “yield strength or 0.2% proof stress”, “total elongation”, “sheet thickness”, “production date” and the like is stored in the IC tag 111. Therefore, it becomes possible to save labor to manually input the material characteristics when the material coil 110 is pressed.
  • Fig. 12 shows an example to attach a bar code 121 to a cut plate material 120.
  • Information showing a product lot number is displayed on the bar code 121.
  • a bar code reader in the material characteristics reader information relating to the corresponding material can be obtained from, for instance, a server computer on a network.
  • Fig. 13 punch reactions and blank holding forces are expressed along the vertical axis, and the number of forming times is expressed along the horizontal axis.
  • a black rhombus denotes a punch reaction during one time of forming.
  • the punch reaction maximum value during forming is captured and stored in a computer for every one time of forming. Further, the moving average of the punch reaction maximum values is calculated and an example of controlling to change the blank holding force when the punch reaction maximum value exceeds a prescribed value (in an example in Fig. 13 , 500 ton ⁇ 10 ton) is shown.
  • a prescribed value in an example in Fig. 13 , 500 ton ⁇ 10 ton
  • the blank holding force is adjusted using the history of the punch reaction maximum values.
  • the present invention is not limited to this, and it is also adoptable to adjust other processing condition, for instance, the forming speed or the like using a history of other state variables for instance, the metal mold temperature, the metal mold distortion amount, or the like.
  • control computer 22 includes a computer CPU or MPU, RAM, ROM, RAM, and the like, and a press-forming method of the present embodiment is realized by operating a program stored in the above-described RAM, ROM, or the like.
  • a program transmission medium a communication medium (wire circuit such as optical fiber or wireless circuit or the like) in a computer net work system (LAN, WAN such as internet, wireless communication network or the like) to propagate and supply program information as a carrier wave can be used.
  • LAN local area network
  • WAN wide area network
  • a means supplying the above-described program to a computer for instance, a storage medium storing such a program composes the present invention.
  • a storage medium for instance, a flexible disc, hard disc, optical disc, magneto-optic disc, CD-ROM, magnetic tape, nonvolatile memory card, ROM, or the like can be used.
  • the present invention it is possible to obtain appropriate processing conditions avoiding an influence due to unpredictable deviation factors such as variation in material characteristics, environmental change, lubricity between a metal mold and work, surface property, and the like, and it is possible to always obtain a favorable product.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Shaping Metal By Deep-Drawing, Or The Like (AREA)
  • Mounting, Exchange, And Manufacturing Of Dies (AREA)
  • Auxiliary Devices For And Details Of Packaging Control (AREA)
  • Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
  • Apparatuses And Processes For Manufacturing Resistors (AREA)
  • Electric Double-Layer Capacitors Or The Like (AREA)
  • Accessory Devices And Overall Control Thereof (AREA)
  • Sewing Machines And Sewing (AREA)

Claims (6)

  1. Procédé de formage à la presse utilisant un dispositif de formage à la presse comportant un poinçon (1), une matrice (2) et un support d'ébauche (3), et formant à la presse un matériau selon une condition de formage prescrite, comprenant les étapes consistant à :
    mesurer, pendant le formage dudit matériau d'un moment à un autre, N variables d'état comprenant au moins une variable d'état hors des variables d'état composées de la réaction de poinçon, de la température du moule métallique, de la quantité de déformation du moule métallique, de la quantité de déformation de pièce ou de la température de la pièce, où N est un entier de 2 ou plus ; caractérisé en ce que le procédé comprend en outre les étapes consistant à :
    calculer, d'un moment à un autre, L conditions de traitement comprenant au moins une condition de traitement hors des conditions de traitement composées de la vitesse de formage, de la force de support d'ébauche, ou d'une température de moule métallique, en utilisant une équation comprenant une matrice de fonction d'influence indiquant une relation entre une déviation de chaque variable d'état mesurée pendant le formage par rapport à sa valeur de référence et une quantité de correction de la condition de traitement, où L est un entier de 2 ou plus ; et
    commander au moins une ou plusieurs conditions de traitement hors des conditions de traitement comprenant une vitesse de mouvement du poinçon ou de la matrice, la température du moule métallique ou la force de support de l'ébauche en fonction des conditions de traitement calculées par l'étape de calcul de conditions de traitement.
  2. Procédé selon la revendication 1, dans lequel ladite équation est : C i = CO i x 1 + Σ T ⁢ 2 i k x S k / SO k - 1 ,
    Figure imgb0007
    où
    S(k) (k = 1∼N) est une kème variable d'état,
    C(i) (i = 1∼L) est une ième condition de traitement,
    SO(k) est une valeur de référence de la kème variable d'état,
    CO(i) est une valeur d'initialisation de la ième condition de traitement, et
    T2(i, k) est une matrice de fonction d'influence des valeurs N x L, la valeur kème x ième indiquant une relation entre une déviation de la kème variable d'état mesurée S(k) par rapport à sa valeur de référence SO(k) et une quantité de correction de la ième condition de traitement.
  3. Dispositif de formage à la presse ayant un poinçon (1), une matrice (2) et un support d'ébauche (3), et formant à la presse un matériau selon une condition de formage prescrite, comprenant :
    un détecteur de variable d'état (16) pour mesurer, pendant le formage dudit matériau d'un moment à un autre, N variables d'état comprenant au moins une variable d'état hors des variables d'état composées de la réaction du poinçon, de la température du moule métallique, de la quantité de déformation du moule métallique, de la quantité de déformation de la pièce, ou de la température de la pièce, où N est un entier de 2 ou plus ;
    un calculateur de conditions de traitement, caractérisé en ce que ledit calculateur de conditions de traitement calcule, d'un moment à un autre, L conditions de traitement comprenant au moins une condition de traitement hors des conditions de traitement composées de la vitesse de formage, de la force de support d'ébauche, ou de la température du moule métallique, en utilisant une équation comprenant une matrice de fonction d'influence indiquant une relation entre une déviation de chaque variable d'état mesurée par rapport à sa valeur de référence et une quantité de correction de la condition de traitement, où L est un entier de 2 ou plus ; et
    un contrôleur de condition de traitement pour contrôler au moins une ou plusieurs conditions de traitement hors des conditions de traitement comprenant une vitesse de mouvement du poinçon ou de la matrice, la température du moule métallique ou la force de support de l'ébauche en fonction des conditions de traitement calculées par le calculateur de conditions de traitement.
  4. Dispositif selon la revendication 3, dans lequel ladite équation est : C i = CO i x 1 + Σ T ⁢ 2 i k x S k / SO k - 1 ,
    Figure imgb0008
    où
    S(k) (k = 1∼N) est une kème variable d'état,
    C(i) (i = 1∼L) est une ième condition de traitement,
    SO(k) est une valeur de référence de la kème variable d'état,
    CO(i) est une valeur d'initialisation de la ième condition de traitement, et
    T2(i, k) est une matrice de fonction d'influence des valeurs N x L, la valeur kème x ième indiquant une relation entre une déviation de la kème variable d'état mesurée S(k) par rapport à sa valeur de référence SO(k) et une quantité de correction de la ième condition de traitement.
  5. Produit-programme informatique à utiliser dans un ordinateur d'un dispositif de formage à la presse ayant un poinçon (1), une matrice (2) et un support d'ébauche (3), caractérisé en ce que lorsqu'il est exécuté, amène l'ordinateur à réaliser un procédé de formage à la presse selon la revendication 1 ou 2.
  6. Support d'enregistrement lisible par ordinateur sur lequel un produit-programme informatique est enregistré, caractérisé en ce que ledit produit-programme informatique est adapté, lorsqu'il est exécuté dans un ordinateur d'un dispositif de formage à la presse ayant un poinçon (1), une matrice (2) et un support d'ébauche (3), pour amener l'ordinateur à réaliser un procédé de formage à la presse selon la revendication 1 ou la revendication 2.
EP10181813A 2003-11-11 2004-11-10 Procédé de formation de presse, dispositif de formation de presse, produit de programme informatique et support de stockage Active EP2289644B1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2003381285 2003-11-11
JP2004264022A JP4833531B2 (ja) 2003-11-11 2004-09-10 プレス成形加工装置、プレス成形加工方法、コンピュータプログラム及び記録媒体
EP08166444A EP2025425B8 (fr) 2003-11-11 2004-11-10 Procédé de formation de presse, dispositif de formation de presse, produit de programme informatique et support d'enregistrement lisible sur ordinateur
EP04818248A EP1688196B1 (fr) 2003-11-11 2004-11-10 Dispositif de formation de presse, procede de formation de presse, programme informatique, et support d'enregistrement

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Application Number Title Priority Date Filing Date
EP04818248.9 Division 2004-11-10
EP08166444.3 Division 2008-10-13

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EP2289644A1 EP2289644A1 (fr) 2011-03-02
EP2289644B1 true EP2289644B1 (fr) 2012-03-21

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EP10181813A Active EP2289644B1 (fr) 2003-11-11 2004-11-10 Procédé de formation de presse, dispositif de formation de presse, produit de programme informatique et support de stockage
EP04818248A Active EP1688196B1 (fr) 2003-11-11 2004-11-10 Dispositif de formation de presse, procede de formation de presse, programme informatique, et support d'enregistrement

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US (2) US8020418B2 (fr)
EP (3) EP2025425B8 (fr)
JP (2) JP4833531B2 (fr)
KR (1) KR100826333B1 (fr)
CN (1) CN100544855C (fr)
AT (3) ATE525147T1 (fr)
BR (1) BRPI0416451B1 (fr)
CA (1) CA2545224C (fr)
DE (1) DE602004023223D1 (fr)
ES (3) ES2332000T3 (fr)
RU (1) RU2335369C2 (fr)
TW (1) TW200526338A (fr)
WO (1) WO2005044481A1 (fr)

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DE102005025026B3 (de) * 2005-05-30 2006-10-19 Thyssenkrupp Steel Ag Verfahren zum Herstellen eines Metallbauteils mit aneinander angrenzenden Abschnitten unterschiedlicher Materialeigenschaften
JP4102398B2 (ja) * 2005-09-07 2008-06-18 ファナック株式会社 ダイクッション機構の制御装置
EP1980339B1 (fr) * 2006-01-13 2016-06-29 Nippon Steel & Sumitomo Metal Corporation Equipement de formage sous presse doté d' un moyen pour mesurer l' allongement relatif
FR2902356B1 (fr) * 2006-06-15 2008-09-26 Peugeot Citroen Automobiles Sa Emboutissage a tiede d'un flan d'alliage leger.
JP2008023534A (ja) * 2006-07-18 2008-02-07 Jfe Steel Kk 金属板のプレス成形方法
JP2008023535A (ja) * 2006-07-18 2008-02-07 Jfe Steel Kk 金属板のプレス成形方法
TW200824813A (en) * 2006-08-31 2008-06-16 Nippon Steel Corp Springback occurrence cause identifying method, springback influence degree display method, springback occurrence cause portion identifying method, springback measure position specifying method, their devices, and their programs
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US20110166685A1 (en) 2011-07-07
ES2332000T3 (es) 2010-01-22
KR100826333B1 (ko) 2008-05-02
RU2006120477A (ru) 2007-12-20
JP5000694B2 (ja) 2012-08-15
BRPI0416451A (pt) 2007-03-06
JP4833531B2 (ja) 2011-12-07
JP2005161399A (ja) 2005-06-23
EP2025425B1 (fr) 2011-09-21
EP1688196A1 (fr) 2006-08-09
KR20060085948A (ko) 2006-07-28
CA2545224A1 (fr) 2005-05-19
US8020418B2 (en) 2011-09-20
WO2005044481A1 (fr) 2005-05-19
EP2289644A1 (fr) 2011-03-02
CN1878623A (zh) 2006-12-13
ATE525147T1 (de) 2011-10-15
ES2383788T8 (es) 2012-10-04
US8965554B2 (en) 2015-02-24
EP1688196B1 (fr) 2009-09-16
CN100544855C (zh) 2009-09-30
ATE550118T1 (de) 2012-04-15
CA2545224C (fr) 2009-09-29
DE602004023223D1 (de) 2009-10-29
BRPI0416451B1 (pt) 2017-10-24
ES2383788T3 (es) 2012-06-26
ATE442921T1 (de) 2009-10-15
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RU2335369C2 (ru) 2008-10-10
EP1688196A4 (fr) 2007-05-02

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